A comparison of ship maneuverability models to approximate ship navigation trajectories

Paper i proceeding, 2021

For optimal control of unmanned surface vehicles (USVs), it is essential to understand the maneuverability of the USVs. In this study, two well-recognized maneuverability models are compared for their capability to predict the trajectories of a simulation and an experiment ship models. The parameters of these maneuverability models are estimated by a statistical learning method. The goodness of the two models for describing a simulated merchant ship’s maneuverability is firstly studied using her simulated trajectories. Finally, the capability of those modelling methods is further investigated using experimental tests of a ship model at an open lake. The experimental tests can model a bit “real” sailing conditions to a USV with wind and drift effects. Finally, some modification and improvement techniques are suggested to accurately derive her maneuverability model based on experimental data.